Multi-tiered parcel sortation system

ABSTRACT

A multi-tiered automated parcel sortation system is utilized to sort parcels according to a common destination. A first tier includes an automated sorter configured to transport parcels from a source location to a release destination. A second tier includes accumulation containers each associated with a shipping destination, and the release destination within the first tier is a positioned directly above the accumulation container associated with the shipping destination of the parcel. Once transported to the release destination, a parcel is released into the accumulation container, and once the accumulation container is filled, the accumulation of parcels within the container is released into a third tier, which may include conveyors or autonomous guided vehicles with transport containers. In the third tier, the parcels are transported away for further processing.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application entitled “Multi-Tiered Parcel Sortation System,” claimsthe benefit of priority of U.S. Prov. App. 63/002,846, entitled“Multi-Tiered Parcel Sortation System,” and filed Mar. 31, 2020. Theentirety of the aforementioned application is incorporated by referenceherein.

BACKGROUND

Sorting parcels according to their assigned destination is a criticalstep for efficient delivery and supply management systems. While manyaspects of parcel handling and transportation have become automated,sortation of parcels often involves precision in manipulating theparcels, particularly with parcels of a smaller size, which makesautomation challenging. For this reason, many current methods of sortingparcels include manual sortation with some automated assistance.Attempts to automate fully manual and semi-manual sortation methods haveinvolved using an articulated robotic arm to receive the parcel andplace the parcel within an assigned cubby within a vertical wall, whichis inefficient to due to the kinematics of industrial arms.Additionally, robotic arms typically cannot finesse the positioning ofparcels within the cubby to ensure maximum packaging. As a result, fewerparcels may fit within the cubby before it needs to be emptied. As such,these attempts at automation have been inefficient in that they do notachieve the current throughput rates of the manual sortation systems.Additionally, in some instances, the use of robotic arms to sort parcelsalong a vertical wall requires more space than what is allotted forparcel sortation within existing infrastructure.

SUMMARY

At a high level, aspects described herein relate to a multi-tieredautomated parcel sortation system that is utilized to sort parcelsaccording to a common destination. A first tier includes an automatedsorter that is configured to transport parcels from a source location toa release destination. The first tier is positioned above a second tierthat includes accumulation containers each associated with a shippingdestination. A transported parcel's release destination within the firsttier is positioned directly above the accumulation container that isassociated with the shipping destination of the parcel. Once transportedby the automated sorter to the release destination, the parcel isreleased into the accumulation container while other parcels may besorted in a similar manner.

In some embodiments, the first tier includes a plurality of tracks, andthe automated sorter that transports the parcel within the first tier isan autonomous guided vehicle (AGV) that moves along the tracks with aparcel, which may be placed on a tray within or attached to the AGVbody. The parcel may be dropped, slid, or otherwise released from thetray or AGV body when the AGV reaches the release destination on thetracks. In other embodiments, the first tier includes a grid ofomnidirectional transfer units (OTUs) that transfer a parcel from oneOTU to an adjacent OTU until the parcel reaches a release OTU, which isthe OTU positioned above the corresponding accumulation container. EachOTU may have a detachable portion, such as a set of bomb-bay styledoors, such that when the parcel is on the release OTU, a temporaryopening may be created (for example, by opening the bomb-bay styledoors) through which the parcel may be released into the accumulationcontainer. This process may continue for multiple parcels.

Once an accumulation container is filled with parcels having a shippingdestination assigned to the container, the accumulation of parcelswithin that container is released to a third tier positioned directlybelow the second tier. One or more sensors may be used in determiningwhether the container is full. For example, a weight sensor maydetermine the weight of the accumulation of parcels within thecontainer, and the accumulation may be released when an accumulationthreshold is satisfied. Alternatively, volume of parcels and/or heightof parcels (which includes distance from the top of the container) maybe utilized to determine whether an accumulation threshold is satisfied.

In the third tier, the parcels are transported away for furtherprocessing within the shipping network. The parcels may go on toadditional processing within a storage or logistics facility or may goto a truck to be transported to another destination within the parcels'shipping routes. In both cases, the parcels are transported from an areadirectly below the accumulation container to a perimeter of thesortation system or outside of the sortation system. The parcels may betransported within the third tier by a conveyor. In some aspects, theconveyor has a transport container that receives the parcels after theyare released from the accumulation container, and in other aspects, theparcels are released directly onto the conveyor. In some aspects, theparcels are transported around the third tier by an autonomous guidedvehicle that positions a transport container directly under theaccumulation container and then transports the filled transportcontainer once the parcels are received.

This summary is intended to introduce a selection of concepts in asimplified form that is further described in the Detailed Descriptionsection of this disclosure. The Summary is not intended to identify keyor essential features of the claimed subject matter, nor is it intendedto be used in determining the scope of the claimed subject matter.Additional objectives, advantages, and novel features of the technologywill be set forth in part in the description that follows, and it willbecome apparent to those skilled in the art upon examination of thedisclosure or learned through practice of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

The present technology is described in detail below with reference tothe attached drawing figures, wherein:

FIG. 1 depicts a perspective view of an example multi-tiered automatedparcel sortation system in accordance with an aspect described herein;

FIG. 2 depicts a top-down view of the example automated parcel sortationsystem of FIG. 1 , in accordance with an aspect described herein;

FIG. 3 depicts a close-up view of a source location within the exampleautomated parcel sortation system of FIG. 1 , in accordance with anaspect described herein;

FIG. 4 depicts a portion of the first and second tiers of the exampleautomated parcel sortation system of FIG. 1 , in accordance with anaspect described herein;

FIG. 5A depicts a portion of the first, second, and third tiers of theexample automated parcel sortation system of FIG. 1 , in accordance withan aspect described herein;

FIG. 5B depicts a portion of a transport container positioned below anaccumulation container within the example automated parcel sortationsystem of FIG. 1 , in accordance with an aspect described herein;

FIG. 6 depicts a portion of an alternative example transport tier of amulti-tiered automated parcel sortation system in accordance with anaspect described herein;

FIG. 7 depicts a portion of an example automated parcel sorter for afirst tier of a multi-tiered automated parcel sortation system inaccordance with an aspect described herein;

FIG. 8 depicts a perspective view of an example multi-tiered automatedparcel sortation system in accordance with an aspect described herein;

FIG. 9 depicts a parcel being transported on the first tier of theexample automated parcel sortation system of FIG. 8 , in accordance withan aspect described herein;

FIG. 10 depicts a side view of a parcel in the first tier of the exampleautomated parcel sortation system of FIG. 8 when it is positioned overan accumulation container within the example automated parcel sortationsystem, in accordance with an aspect described herein;

FIG. 11 depicts an example computerized operating environment employinga multi-tiered automated parcel sortation system, in accordance with anaspect described herein;

FIG. 12 depicts a flow diagram illustrating an example method forsorting parcels in accordance with an aspect described herein; and

FIG. 13 is a block diagram of an example computing device suitable foruse with aspects of the present technology.

DETAILED DESCRIPTION

Sorting parcels according to their assigned destination is a criticalstep for efficient delivery and supply management systems. While manyaspects of parcel handling and transportation have become automated,sortation of parcels often involves precision in manipulating theparcels, particularly with parcels of a smaller size, which makesautomation challenging. For this reason, many current methods of sortingparcels include manual sortation with some automated assistance. Forexample, in one current method, a human operator receives a parcel,scans the parcel to input a destination, and places the parcel within astorage area corresponding to the destination. The storage area is oftena cubby within a vertical wall of cubbies. After the parcel is scanned,an indicator signaling the appropriate cubby may be given, such as theillumination of a light corresponding to the appropriate cubby, and theoperator inserts the parcel into the cubby via a side opening. Once acubby reaches a sufficient volume, another human operator moves theparcels within the cubby into a transportable container and places thecontainer on a means of transportation, such as a conveyor belt, fortransportation out of the sortation area for further processing.

Attempts to automate fully manual and semi-manual sortation methods haveinvolved using an articulated robotic arm to receive the parcel andplace the parcel within the assigned cubby. However, due to thekinematics of industrial arms, positioning the arm for placement of aparcel within a cubby along a vertical wall is inefficient.Additionally, robotic arms typically cannot finesse the positioning ofparcels within the cubby to ensure maximum packaging. As a result, fewerparcels may fit within the cubby before the cubby needs to be emptied.As such, these attempts at automation have been inefficient in that theydo not achieve the current throughput rates of the manual sortationsystems. Additionally, in some instances, the use of robotic arms tosort parcels along a vertical wall requires more space than what isallotted for parcel sortation within existing infrastructure.

At a high level, aspects described herein relate to a multi-tieredautomated parcel sortation system that is utilized to sort parcelsaccording to a common destination. A first tier includes an automatedsorter that is configured to transport parcels from a source location toa release destination. The first tier is positioned above a second tierthat includes accumulation containers each associated with a shippingdestination. When a parcel reaches the release destination within thefirst tier, it is released into an accumulation container within thesecond tier that corresponds to the parcel's shipping destination. Oncethe accumulation container has sufficient accumulation of parcelsreceived from the first tier, the container is emptied as parcels arereleased into a third tier positioned below the second tier. The thirdtier includes a mechanism to transport the accumulation of parcels awayfor further processing and/or shipping to the next destination withinthe shipping route. This multi-tiered sortation system leverages gravityto maximize packing of parcels within an accumulation container andincrease efficiencies within sortation.

In some embodiments, the first tier includes a plurality of tracks, andthe automated sorter that transports the parcel within the first tier isan autonomous guided vehicle (AGV) that moves along the tracks with aparcel, which may be placed on a tray within or attached to the AGVbody. The parcel may be dropped, slid, or otherwise released from thetray or AGV body when the AGV reaches the release destination on thetracks. In other embodiments, the first tier includes a grid ofomnidirectional transfer units (OTUs) that transfer a parcel from oneOTU to an adjacent OTU until the parcel reaches a release OTU, which isthe OTU positioned above the corresponding accumulation container. EachOTU may have a detachable portion, such as a set of bomb-bay styledoors, such that when the parcel is on the release OTU, a temporaryopening may be created (for example, by opening the bomb-bay styledoors) through which the parcel may be released into the accumulationcontainer. This process may continue for multiple parcels. Note that allof the OTUs may be similar in their construction—e.g. the release OTU isconstructed identically to all other OTUs in the first tier.

Once an accumulation container is filled with parcels having a shippingdestination assigned to the container, the accumulation of parcelswithin that container is released to a third tier positioned directlybelow the second tier. One or more sensors may be used in determiningwhether the container is full. For example, a weight sensor maydetermine the weight of the accumulation of parcels within thecontainer, and the accumulation may be released when an accumulationthreshold is satisfied. Alternatively, a volume of parcels and/or heightof parcels (which includes a distance of the parcels from the top of thecontainer) may be utilized to determine whether an accumulationthreshold is satisfied.

In the third tier, the parcels are transported away for furtherprocessing within the shipping network. The parcels may go on toadditional processing within a storage or logistics facility or may goto a shipping truck to go to another destination within the parcels'shipping routes. In both cases, the parcels are transported from an areadirectly below the accumulation container to a perimeter of thesortation system or outside of the sortation system. The parcels may betransported within the third tier by a conveyor. In some aspects, theconveyor has a transport container that receives the parcels after theyare released from the accumulation container, and in other aspects, theparcels are released directly onto the conveyor so that they may betransported as a grouping on the conveyor. In some aspects, the parcelsare transported around the third tier by an autonomous guided vehiclethat positions a transport container directly under the accumulationcontainer and then transports the filled transport container once theparcels are received.

Having described a high-level summary of the technology, example aspectsare provided in further detail below with reference to the figures.Specifically, FIGS. 1 and 2 depict an example automated parcel sortationsystem 100 that is generally configured to physically group parcelsaccording to a common destination. As used herein, a parcel may refer toa letter or package being sent to a designated recipient at a particularshipping destination (which may also be referred to a mailingdestination). Automated parcel sortation system 100 is a multi-tiered,gravity-based sortation system in that it comprises multiple tiers thatare oriented over one another along a vertical axis. Automated parcelsortation system 100 includes a first tier 110, a second tier 130, and athird tier 150. These tiers may also be referred to as a first zone, asecond zone, and a third zone, or as a first stage, a second stage, anda third stage, respectively. Sorting a parcel in accordance with system100 involves a parcel moving sequentially through tiers 110, 130, and150.

In some embodiments, automated parcel sortation system 100 is utilizedfor sortation of a particular class of parcels designated as smallparcels. For instance, parcels sorted through automated parcel sortationsystem 100 may have a maximum length of approximately 16 inches, amaximum width of approximately 16 inches, and a maximum height ofapproximately 6 inches. System 100 may also include minimum sizerequirements to ensure parcels of too small of a size are not overlookedor lost within the automated parcel sortation system 100. For example,parcels sorted through automated parcel sortation system 100 may have aminimum length of approximately 5 inches, a maximum width ofapproximately 3 inches, and a minimum height of approximately 0.04inches. Further, in some embodiments, parcels sorted through automatedparcel sortation system 100 have a minimum weight of approximately 0.05lbs. and a maximum weight of approximately 8 lbs. Unless otherwiseindicated, the term “approximately” as used herein with reference tophysical measurements includes ±15% of the given value.

The first tier 110 is an automated sortation tier that is generallyconfigured to transport parcels around along a horizontal plane (e.g.,along x-axis and/or z-axis depicted in FIG. 1 ). The second tier 130 isan accumulation tier that is generally configured to receive parcelsfrom the first tier 110 and temporarily store them as additional parcelsaccumulate within the second tier 130. The third tier 150 is a removaltier that is generally configured to transport accumulated parcelsreceived from the second tier 130 out of the physical area housing theautomated parcel sortation system 100 to proceed for further processingor shipment.

In the embodiment depicted in FIG. 1 , the first tier 110 comprises aCartesian robot system made up of a gantry 111 with one or more gantryheads that are moved within the framework of the gantry to drop offparcels into the second tier 130. The gantry 111 includes at least twostatic frames 112A and 112B extending parallel to one another and atleast one moveable frame extending perpendicular to the two staticframes. In FIG. 1 , there are two moveable frames 114A and 114B, eachhaving a gantry head (see gantry heads 116A and 116B) that are utilizedto pick up and drop off parcels. In the example depicted in FIG. 1 , thetwo moveable frames 114A and 114B are moveable along the x-axis. Eachgantry head 116A and 116B is moveable along the respective moveableframe to move along the z-axis. It is understood that the static frames112A and 112B and moveable frames 114A and 114B may be positioneddifferent in other embodiments so that moveable frames 114A and 114B maybe moveable along the z-axis while gantry heads 116A and 116B aremoveable along the x-axis. Each gantry head, such as gantry head 116A,is configured to receive, transport, and release a parcel. Each gantryhead may further include an element (e.g., 117 on gantry head 116A) thatis moveable along the y-axis to enable vertical movement to retrieveand/or release a parcel. In this way, a parcel may be moved from onelocation to another location along the first tier 110 though movementalong multiple static and moveable frames.

A gantry head (e.g., gantry head 116A) may receive or pick up a parcelfrom a source location along the perimeter of the gantry 111. Sourcelocation 124 in FIGS. 1 and 2 include conveyors. In another preferredembodiment, the source location may be a chute, such as chute 122 inFIG. 2 . For instance, FIG. 1 depicts source location 124 outside ofstatic frame 112A. Source location 124 is depicted as being along oneside of the perimeter of first tier 110; however, in other embodiments,a source location may be within a central region of first tier 110. Acentralized source location could minimize the average distance frominduction (receipt of the parcel at the source location) to the releasedestination. For example, an elevator or augur mechanism may liftparcels up to the center of the gantry 111 in first tier 110, and dumpthem into a bulk pile, while a gantry head could then pick up a parcelfrom this pile.

In some embodiments, there may be one or more source locations.Generally, more source locations allow for more automated sorters (e.g.,gantry heads) to be moving at the same time to pick up and/or drop offparcels. As such, utilizing more source locations may increase theefficiency of the system. At the same time, the efficient use of moresource locations may depend on mechanisms to synchronize multipleautomated sorters to avoid collisions and blockages as described furtherbelow.

The gantry head 116A may pick up a parcel from a source location, suchas conveyor 118, at the source location 124. In one aspect, the gantryhead 116A comprises a robotic manipulator that can be automaticallyadjusted to pick up a parcel from a pile of parcels at the sourcelocation. In other aspects, the gantry head 116A picks up a singulatedparcel that is spaced apart from other parcels. The singulated parcelmay be picked up from conveyor 118 or may be picked up on a shorterlateral belt 120 or chute coming off conveyor. FIGS. 3 and 4 depictother views of conveyor 118 and lateral belt 120. In some aspects, alateral belt or chute is alternatively or additionally provided todivert parcels into an exception area or for sortation by a separatesystem.

Prior to being received by an automated sorter in first tier 110, suchas gantry head 116A, a parcel may be scanned so that the automatedparcel sortation system 100 can determine an intended shippingdestination assigned to the parcel. As used herein, the term “shippingdestination” may be the final destination intended by the recipient ormay be an intermediary destination within the shipping network. As such,in some embodiments, one or more cameras or other optical sensors may beutilized to scan a parcel as it is lifted from into place, such as whenit is picked up by gantry head 116A. In other aspects, the parcel may bescanned while on a conveyor or lateral belt prior to being picked up. Insome embodiments, a radio frequency identification scanner is used toscan the parcel in addition to or instead of a light camera or otheroptical sensor.

The second tier 130 of automated parcel sortation system 100 comprises aplurality of containers 132, referred to herein as accumulationcontainers. In some aspects, each the accumulation container 132 has anopening at a top end and a door forming a lower end. The accumulationcontainers 132 may be of an identical size and shape. In one aspect, theaccumulation containers 132 are square containers measuringapproximately 24 inches wide, approximately 24 inches deep, andapproximately 24 inches tall. As illustrated, the accumulationcontainers 132 may be arranged to form a grid of containers directlybelow the first tier 110.

Each accumulation container 132 is associated with a destination orgroup of destinations. As such, each parcel can be sorted into aparticular accumulation container 132 that corresponds to the shippingdestination determined for the parcel. In some embodiments, eachaccumulation container 132 is associated with a unique destination orunique group of destinations such that there may be no destination orgroup of destinations shared among different accumulation containers132. In other embodiments, there may be multiple accumulation containers132 associated with the same destination (or group of destinations). Inboth cases, the accumulation containers 132 within second tier 130 maynot all be associated with the same destination such that multipledestinations are represented by the accumulation containers 132. In someembodiments, the destination assigned to a specific accumulationcontainer may be changed dynamically during sortation. In one examplecase, changing destination assignments of accumulation containers 132may be done by reassigning destinations associated with a high volume ofparcels being sorted to accumulation containers that are closer to thesource location, thereby reducing the time that the sortation system 100spends in motion. In a second example case, this reassignment may bedone to support a sudden surge in volume being sorted to thatdestination by increasing the number of accumulation containers assignedto a specific destination.

When a parcel is scanned, it will be assigned an accumulation container132 based on the intended destination determined from the scan. Theautomated sorter within the first tier 110, such as gantry head 116A,will receive the parcel from the source location 124 and move along oneor more of the z-axis, the y-axis and the x-axis to position the parceldirectly above the assigned accumulation container 132. Transporting theparcel from the source location 124 to a position above the assignedaccumulation container 132 includes determining a route. The route maybe determined by a remote computing device, and directions for anautomated sorter (e.g., gantry head 116A) to achieve the route may besent to one or more computing systems or receivers integrated into aphysical structure of the automated sorter (e.g., gantry head 116A)and/or physical structure of the first tier 110 (e.g., gantry 111).Alternatively, the route may be determined by a computing systemintegrated into the physical structure of the automated sorter or firsttier 110.

Once a parcel is positioned over its assigned accumulation container132, the automated sorter within the first tier 110, such as gantry head116A, may release the parcel, causing the parcel to drop into theopening at the top of the accumulation container 132. In exemplaryaspects, one or more steps are taken to ensure adequate parcel care as aparcel is dropped into an accumulation container 132. For example, insome aspects, the automated sorter, such as the gantry head 116A maylower the parcel into the accumulation container 132 and, in someinstances, may lower the parcel into the accumulation container 132 at adecreasing speed or at a slower speed relative to the speed at which thegantry head 116A traverses the first tier 110. Additionally oralternatively, each accumulation container 132 may be lined with acushioning material, such as a textile or foam material for example, toreduce impact. Additionally or alternatively, all or part of eachaccumulation container 132 may be lined with material designed to slowthe fall of the parcel, such as stiff plastic brushes. Additionally oralternatively, the accumulation containers 132 may be partially or fullyconstructed from a flexible and/or elastomeric material. Additionally oralternatively, each accumulation container 132 may be suspended from ashock-absorbing element, such as coil springs for example.

After a parcel is released into the second tier 130, the automatedsorter (e.g., gantry head 116A) may move back to the source location 124to retrieve an additional parcel to place in the same accumulationcontainer or in another accumulation container based on the intendeddestination. Arranging the automated sorter above the accumulationcontainers, rather than the sorter being aligned horizontally with astorage component, leverages gravitational forces to cause the parcel tomove from the automated sorter (e.g., to the accumulation container 132below, thereby reducing the amount of work required by the automatedsorter (e.g., gantry head 116A). The automated sorter, such as gantryhead 116A, may immediately begin traveling back to the source locationfor another parcel as soon as the parcel is released.

Each accumulation container 132 may be designed to ensure that parcelswill successfully fall into the accumulation container, or to fitmultiple parcels. For instance, as previously mentioned, there may be amaximum parcel size for the automated parcel sortation system 100, andin some embodiments, each accumulation container is sized to ensure thatthe largest parcel that may be sorted will fit into the accumulationcontainer opening, regardless of orientation. For example, in someembodiments, the maximum parcel length is 16 inches, the maximum parcelwidth is 16 inches, and the maximum parcel height is 6 inches. In theseembodiments, the accumulation container opening may be 24 inches by 24inches such that regardless of its orientation when dropped, the parcelwill fit through the accumulation container opening. Similarly, theaccumulation container may be sized to fit some desired number ofparcels of the maximum size.

Fitting more parcels within a single accumulation container tocollectively transport to the next tier at one time generally increasesthe efficiency of the sortation system. Because the parcels being sortedmay be different sizes and shapes, the manner in which a parcel sitswithin an accumulation container may determine how many parcels willfit. Generally, by placing parcels through an opening at the top of thecontainer, the parcels move vertically through the container andgravitational forces help to settle the parcels to reduce empty spacebetween parcels. As such, this vertical arrangement of the first tier110 and the second tier 130 helps pack parcels within the accumulationcontainer 132 for efficient sorting without manipulation within thecontainer by robotic arms.

After a parcel is placed within the accumulation container 132, theparcel may be temporarily stored within the accumulation container 132as more parcels are moved from the source location and added to theaccumulation container 132. Once the accumulation container 132 isfilled, as determined by an accumulation threshold value, the parcelsstored within the accumulation container may be released to third tier150. In some aspects, there are one or more sensors obtaining data for afill or accumulation measurement of each accumulation container 132. Forexample, a weight sensor within the accumulation container 132 mayprovide a total weight of parcels within accumulation container 132,and/or an imaging sensor at the top of an accumulation container 132 orpositioned above the accumulation container 132 (such as within acomponent of the first tier 110), may provide images of the interior ofthe accumulation container 132 to determine the total volume of parcelswithin the accumulation container 132. In another embodiment, a distancesensor, such as an ultrasonic rangefinder or laser distance sensor, isutilized to measure the top-most position of the parcels with theaccumulation container 132. As such, automated parcel sortation system100 may compare these one or more of these measurements to a respectiveaccumulation threshold value (e.g., a threshold weight, thresholdvolume, threshold distance) to determine whether there is sufficientaccumulation or fill with the accumulation container 132. Thisinformation from the sensors may be captured periodically orcontinuously and may be captured automatically in real time. In someembodiments, sensors within the automated parcel sortation system 100are not utilized to determine a threshold accumulation, but rather, theknown volume and/or weight of the parcels (as determined prior tosortation) may be input into one or more models run on a computingsystem to determine when the accumulation container 132 is full. In someembodiments, the accumulation threshold is a measure of time such thatan accumulation container 132 may be determined to be full if athreshold period of time has passed since it was last emptied.

Once the accumulation threshold is satisfied (e.g., meets or exceeds thethreshold value), one or more actions may be automatically initiated torelease the accumulation of parcels into third tier 150 which comprisesan area through which the accumulation of parcels are automaticallytransported to the perimeter of or outside of the area of the automatedparcel sortation system 100. In exemplary embodiments, one of theseactions includes automatically opening a door forming the bottom surfaceof the filled accumulation container 132. Opening the door creates anopening through which the accumulated parcels can travel to enter thethird tier 150.

In one embodiment, the door of the accumulation container 132 is a“bomb-bay style” door. As such, the bottom portion of the accumulationcontainer 132 may include a first half forming a first door and a secondhalf forming a second door. Each door may be secured to another portionof the accumulation container 132 (e.g., the sidewall or a perimeternon-moveable portion of a bottom wall) along one side of the door butmay be otherwise unattached along the other three sides of the door.Each door may be connected to the rest of accumulation container 132 viaa hinge such that each door is configured to pivot around the hinge toopen and release the accumulated parcels.

In another embodiment, the bottom portion of the accumulation container132 comprise a “rolling door” constructed of panels of ridged materialjoined together so as to form a sheet that is rigid in two directionsbut flexible in the perpendicular direction. For instance, the sheet ofpanels may be rigid about the x-axis and y-axis and flexible along thez-axis, or alternatively, the sheet of panels may be rigid about they-axis and the z-axis and flexible along the x-axis. In this way, thedoor may be made to roll over itself towards a side of the accumulationcontainer 132 to create an opening in the bottom of the accumulationcontainer 132. In some embodiments, the panels forming the door may belinked in an accordion fashion such that the panels fold up, rather thanroll, when they are moved to the side of the accumulation container 132.

In another embodiment, the bottom portion of the accumulation container132 opens and closes utilizing a “flexible iris-style mechanism”. Assuch, the door may comprise a first plate and a second plate that eachhas an aperture, the first plate and the second plate being parallel toeach other and arranged to at least partially overlap each other so thatthe apertures of the first and second plates are vertically aligned. Thefirst and second parallel plates may be connected along their respectiveperimeter by a flexible material. At least one of the parallel platesmay be rotated relative to the other plate to open and close an openingof the accumulation container 132. When open, a tunnel is formed betweenthe apertures of the first and second plates, and parcels may dropthrough the tunnel into the third tier 150. When rotated closed, theflexible material becomes twisted and gathers in the center such thatthe flexible material is positioned between the apertures of the firstand second plates, thereby preventing an opening from forming andkeeping parcels within the accumulation container 132. In anotherembodiment, a more rigid “iris-style mechanism” may be utilized in whicha plurality of overlapping plates rotate relative to a base plate tocontract and expand the opening between base plate and set ofoverlapping plates.

In another embodiment, the bottom portion of the accumulation container132 comprises one or more sliding doors. For instance, in FIGS. 5A-B,the bottom portion of accumulation container 132 includes a first door134A and a second door 134B that are each connected to one or moreactuators (in this example, pneumatic cylinders) 136 orientedhorizontally. It is contemplated that the doors may be connected to apair of cylinders but only one cylinder is visible in the side viewdepicted in FIGS. 5A-B. The pair of actuators 136 may each rotate aboutor translate along one axis to push the doors 134A and 134B downward andmay extend along another axis to push the doors 134A and 134B outwards(sideways along a horizontal plane). In this way, the doors 134A and134B slide partially under adjacent accumulation containers to create anopening at the bottom of the accumulation container 132 to be emptied.

When the bottom door(s) of the accumulation container 132 opens torelease the parcels, the parcels enter into the third tier 150 fortransport to further processing area, which may ultimately includetransport to the shipping destination. As shown in FIG. 5A, in exemplaryaspects, the parcels from the accumulation container 132 are releasedinto a transport container 152 positioned within the third tier 150directly below the accumulation container 132 that is releasing theparcels. In some embodiments, the transport container 152 has a volumethat is equivalent or substantially equivalent to the volume of theaccumulation container 132. In some aspects, the transport container 152may comprise a more flexible material than the accumulation container132. For instance, in some aspects, the transport container 152comprises a mesh bag. While accumulation containers 132 may be a staticfixture within system 100 in that they are not moved with parcels, someembodiments of transport containers 152 are moveable in that thetransport containers 152 can leave the area housing the sortation system100 with the parcels or otherwise move parcels towards the perimeter ofor an area outside the sortation system 100.

Because keeping transport containers 152 under each accumulationcontainer 132 as the parcels are accumulated would likely block movementof the transport containers 152 out of the third tier 150 once parcelsare received, the transport container 152 may be positioned underneathan accumulation container 132 only once the accumulation threshold issatisfied. As such, in some embodiments, satisfying the accumulationthreshold initiates a signal being sent to an autonomous guided vehicle(AGV) 154 (which may also be referred to as a transport AGV 154) tocarry an open transport container 152 to a position within the thirdtier 150 directly below the accumulation container 132 that has beenfilled. In alternative embodiments, a different threshold value may beutilized to initiate a signal for triggering positioning of an opentransport container 152 within the third tier 150. Specifically, as theaccumulation threshold previously discussed may be used to triggerrelease of parcels from the accumulation container 132, a different(i.e., lower) accumulation threshold value may be used to signal anaction (e.g., movement of an AGV) to position an open transportcontainer 152 under the accumulation container 132 prior to release ofthe parcels from accumulation container 132.

Once the threshold is satisfied, the AGV 154 may travel into the area ofthe third tier 150 along one of a plurality of fixed routes until it ispositioned under the accumulation container 132. In some embodiments, anautonomous mobile robot (AMR) is utilized instead of an AGV to carry thetransport container 152 through the third their 150 until it ispositioned underneath the accumulation container 132. The AMR mayprovide more flexibility as it does not have to travel along a fixedroute. Once the transport container 152 has received the parcels fromthe accumulation container 132, the transport container 152 may betransported, via the AMR or AGV for example, outside of the third tier150 or outside of the automated parcel sortation system 100 as theparcels in the transport container 152 are ready to be sent to theirnext destination.

In some embodiments, the accumulated parcels from an accumulationcontainer 132 are not put into a transport container, such as transportcontainer 152 depicted in FIG. 1 , before being carried out of the thirdtier 150. For instance, in alternative embodiments, the accumulatedparcels are released from the accumulation container 132 onto a platformon an AGV or AMR, which then transports the grouping or clump of parcelsto the perimeter of or outside of the sorting area for furtherprocessing. In another embodiment, the accumulated parcels may betransported on a rack-mounted flexible tote system once they arereleased from the accumulation container 132.

Implementing a process for bagging or otherwise transporting anaccumulation of parcels (third tier 150) underneath the automated sorter(first tier 110) and accumulation containers (second tier 130) reducesthe footprint of the complete automated parcel sortation system 100. Thefootprint of system 100 may, thus, be defined by the number ofdestinations the system 100 is required to service and the minimumaccumulation container size that can reliably accommodate the largestpossible parcel in sortation. In exemplary embodiments, the size of thesystem 100 (not including any secondary conveyors such as conveyorstransporting parcels to a source location) is able to fit within a cellthat is 20 feet wide and 14 feet and 5.5 inches deep, as shown in FIG. 2. In some embodiments, the size of the system 100 may fit within a cellpreviously utilized for manual sortation such that the automated parcelsortation system 100 may be more efficiently implemented within existingsortation infrastructure.

As discussed earlier, utilizing gravity-based sortation increases thespeed of sorting, provides more efficient and natural container-packingbehavior, and simplifies parcel manipulation tasks. Further, embodimentsof the automated parcel sortation system 100 are highly adaptable asthey do not depend on a particular technology. For example, differenttechnologies can be utilized for the sorter (first tier 110),accumulation container (second tier 130) and bagging/transport (thirdtier 150), depending on the requirements of a specific environment.FIGS. 6-10 , for instance, depict alternative technologies beingutilized that still utilize many aspects of system 100 discussed above.These alternative technologies may have the same and, in some cases,additional advantages as system 100.

In an alternative embodiment depicted in FIG. 6 , an automated parcelsortation system 600 may have the same configuration as automated parcelsortation system 100 except has an alternative configuration for thethird tier. For instance, the third tier 650 comprises a series ofconveyors 654 extending the length of the third tier 650 area. Automatedparcel sortation system 600 may have a first tier that is the sameconfiguration as first tier 110 of system 100, and the second tier 630may have accumulation containers 632 that are the same configuration asdescribed for second tier 130. Parcels may be released from accumulationcontainer 632 upon satisfying an accumulation threshold, and thereleased parcels be dropped onto a conveyor 654, which may be a conveyorbelt, that transports the accumulation of parcels away.

In some embodiments, parcels are released from accumulation container632 into a transport container (which may be similar as transportcontainer 152 in FIG. 1 ) positioned on conveyor 654 on the third tier650. In this way, the accumulation of parcels may be transported withinthe third tier 650 in a container rather than as an uncontained groupingor pile of parcels. In some embodiments, the transport container is notmoved via conveyor 654 to be positioned underneath an accumulationcontainer 632 until the accumulation container 632 is ready or nearready to release the parcels. For instance, satisfying a firstaccumulation threshold may signal the conveyor 654 to move and/or for atransport container to be positioned on a moving conveyor 654. A secondaccumulation threshold may be used to signal release of the parcels fromthe accumulation container 532, where the second accumulation thresholdmay be greater than the first accumulation threshold such that the firstaccumulation threshold will always be satisfied before the secondaccumulation threshold. In some embodiments, an accumulation thresholdis used to initiate positioning of a transport container beneath aparticular accumulation container 532 while release of the parcels fromthe accumulation container 532 may be initiated based pre-determinedtime period having lapsed since initiating the accumulation threshold.

FIG. 7 depicts an alternative mechanism for transporting parcels from asource location to be positioned over the assigned accumulationcontainer within the first tier. Rather than utilizing a Cartesianrobotic system with one or more gantry heads, the automated sorterwithin a first tier 710 comprises one or more autonomous guided vehicles(AGVs), such as AGVs 714 and 716 (which may also be referred to assortation AGVs 714 and 716 to distinguish from transport AGVs 154). Thefirst tier 710 also includes a plurality of tracks 712 that intersectwith one another to form a grid positioned above the accumulationcontainers 732 of the second tier 730. There are openings (e.g., opening713) between tracks 712, and the tracks 712 may be vertically alignedwith an area between two adjacent accumulation containers 732 or thearea where two adjacent accumulation containers 732 coincide. In thisway, each opening 713 created between intersecting tracks 721 may alignwith a top opening (e.g., top opening 733) of an accumulation container732.

One or more AGVs 714 and 716 may move along pairs of tracks 712 totransport a parcel from a source location to an opening (e.g., opening713) directly above the particular accumulation container 732 assignedto the parcel. In example embodiments, each AGV includes a body, a setof wheels secured to the body and configured to traverse tracks alongdifferent axes, a route component configured to determine one or moreroutes along the grid, and an automated steering component configured tosteer the AGV according to the route. Similar to the Cartesian roboticsystem of FIG. 1 , AGVs 714 and 716 are automatic parcel sorters in thatthey automatically transport parcels around the first tier 710 withoutmanual input.

The bodies of the AGVs 714 and 716 may each include a tray forming aplatform for holding a parcel being transported. The tray may begenerally oriented horizontally or parallel to the grid. The tray mayform a lower portion or floor of the body of the AGV. The body may alsoinclude a tray opening mechanism configured to move the tray when theautomated sorter is positioned at a predetermined release destinationabove an accumulation container 732.

Similar to the door at the bottom of an accumulation container 732(which may be similar to accumulation container 132), the tray and trayopening mechanism function to provide a temporary floor for a parcelthat can be removed to create an opening through which the parcel dropsdownward. In this way, the structural mechanisms described with respectto the door of the accumulation container 132 may be applied to the traywithin the AGV 714. As such, in one embodiment, the tray comprises apair of doors that are coupled to the body of the AGV 714. FIG. 7depicts these doors 718 and 720 in dashed lines. Each door may functionas a “bomb-bay style” door such that the doors are configured to eachrotate along a hinge coupling the door to the body of the AGV 714. Asthe doors pivot around the hinges, an opening in the bottom of the AGV714 is created and the parcel may be released. In some embodiments, thetray comprises a single door that is coupled, via a hinge, to the bodyof AGV 714.

In another embodiment, the bottom portion of the AGV 714 comprises a“rolling door” type of tray that is constructed of panels of ridgedmaterial joined together so as to form a sheet that is rigid in twodirections but flexible in the perpendicular direction (e.g., rigidabout the x-axis and y-axis and flexible about the z-axis or rigid aboutthe y-axis and z-axis and flexible about the x-axis). The tray may bemade to roll over itself as it is forced sideways to create an openingin the bottom of the AGV 714. In some embodiments, the panels formingthe tray may be linked in an accordion fashion such that the panels foldup, rather than roll, when they are forced to the side.

In another embodiment, the bottom portion of the AGV 714 opens andcloses utilizing an “iris-style mechanism”. As such, the tray holdingthe parcel may comprise a first plate positioned over a second plate.The first plate and the second plate each may have an aperture where theapertures may be vertically aligned with one another. The first andsecond parallel plates may be connected along their respective perimeterby a flexible material. At least one of the parallel plates is rotatedrelative to the other plate to open and close the tray of the AGV. Whenin an open configuration, a tunnel is formed between the apertures ofthe first and second plates, and a parcel may drop through the tunnelinto an accumulation container 732. When in a closed configuration, theflexible material is twisted and gathered in the center such that theflexible material is positioned between the apertures of the first andsecond plates, thereby preventing an opening from forming.

In another embodiment, the bottom portion of the AGV 714 comprises oneor more sliding trays, similar to the doors of accumulation container132 discussed with reference to FIGS. 5A-B. For example, a first trayand a second tray may each be connected to one or more pneumaticcylinders oriented horizontally. The cylinders may each rotate about ortranslate along one axis to push the trays downward and may extend alonganother axis to push the trays outwards (sideways along a horizontalplane). The trays may be pushed downward only at enough distance toslide between the body of the AGV 714 and top of the tracks 712.Alternatively, the trays may be slid down below the tracks 712 beforebeing slid outwards.

Before being transported across the grid and released into anaccumulation container 732, a parcel is first loaded onto the tray inthe body of the AGV 714. The parcel may be loaded on at a sourcelocation similar to the source location 124 discussed with respect tosystem 100. In some embodiments, a parcel is placed on the tray througha singulation mechanism. For example, parcels may be spaced apart alonga conveyor that dumps a single parcel on the tray. In another instance,the parcels may be arranged in a pile, and a small robotic arm may pickup a parcel from the pile and place it on the tray. In this instance,the robotic arm may also perform a scanning function on the parcel as itpicks it up and places it on the tray, using one or more of the methodsdescribed previously.

In some embodiments, the tray is accessible through one or more sidewalls of the AGV 714. The side wall(s) may be permanently open or mayhave a removable cover. For instance, one side wall of the AGV 714 bodymay have an opening or may be omitted completely to provide access to atray in the center of the AGV body. In one example, the top side of theAGV body may be omitted or includes an opening through which a parcel isplaced. In some embodiments, a cover may be removed while a parcel isplaced onto the tray and put back on to prevent the parcel from fallingout of the AGV 714 while being transported to the release destination.

After a parcel is loaded onto the tray in the AGV 714, the AGV 714traverses the grid to reach the release destination, which is theopening (e.g., opening 713) positioned over the particular accumulationcontainer 732 corresponding to the shipping destination of the parcel.As such, the AGV 714 determines a route from the source location to therelease destination. The route may be determined by applying analgorithm or one or more machine learning models to automaticallydetermine a route with the shortest distance between the two locationswhile avoiding any blockages, such as other AGVs or broken or otherwiseinoperable track portions. As such, the route may be based on therelease destination and the current (or future) positions of any otherAGVs on the grid (which may be based on current and future routes ofother AGVs). This route may be determined using the algorithm or machinelearning model by a remote computer system, and the route component onthe AGV 714 may be a receiver that receives a signal indicating thedetermined route as described with respect to FIG. 11 . In otherembodiments, a computing system integrated into the AGV 714 computes theroute using the algorithm or machine learning model(s).

Once at the release destination above the assigned accumulationcontainer 732, the AGV 714 stops, and the tray of the AGV 714 opens todrop the parcel in to the accumulation container 732 in one of themanners described previously. After the parcel is dropped into theaccumulation container 732, the AGV 714 may return to a source location.As such, the route component of the AGV 714 may also determine a returnroute. Similar to the first route with the parcel, the return route maybe the shortest distance from the current location (release destination)and the source location while avoiding any blockages. In someembodiments, the return route includes the AGV 714 moving to a perimetertrack on the grid and increasing the speed of the AGV 714 above themaximum speed used by the AGV 714 when carrying a parcel. In anotherembodiment, there are multiple source locations, and determining thereturn route may include determining the nearest source location, whichmay be the same or different from the last source location at which theAGV 714 was present. The return route may be determined by a remotecomputing system or by AGV 714.

The second tier 730 and a third tier 750 of system 700 may be similar tothe second tier 130 and the third tier 150 of system 100. Detailsdiscussed with respect to the second tier 130 and the third tier 150 ofsystem 100 may equally apply to the second tier 730 and the third their750 of system 700. Similarly, details discussed with respect the firsttier 110 that are not specific to the Cartesian robot sorter may equallyapply to the first tier 710 of system 700.

One advantage of using AGVs is the ability to operate multiple AGVscontemporaneously over the same grid with a lower likelihood ofinterference between individual AGVs compared to the risk ofinterference between multiple gantry heads in system 100. This isparticularly advantageous as the number of accumulation containers 732increases, which may involve a utilizing a greater number of AGVs toachieve the same throughput. Additionally, because the motion of AGVsover the grid is easily modelable with a high fidelity, it is possibleto plan highly efficient movement schedules for multiple AGVs movingacross the grid at the same time.

FIG. 8 depicts an automated parcel sortation system 800 that is similarto system 100 of FIG. 1 except that the first tier 810 utilizes adifferent mechanism to transport parcels from a source location to arelease location (i.e., an area positioned directly over the assignedaccumulation container). Rather than utilizing a Cartesian roboticsystem with one or more gantry heads, the first tier 810 includesomnidirectional transfer units (OTUs) 812 that collectively form a grid.OTUs 812 may also be referred to as omnidirectional transfers oromnidirectional conveyors. The OTUs 812 are configured to convey aparcel along a primary axis (e.g., x-axis) in either direction, such asdirection 902 and 904 in FIG. 9 , and along an axis perpendicular to theprimary axis (e.g., z-axis) in either direction, such as direction 906and 908 in FIG. 9 . In some instances, the OTUs 812 may further beconfigured to convey a parcel along any vector between those two axes.

Each OTU 812 is individually controlled such that the drive directionand speed of a given OTU 812 may be different than the drive directionand speed of adjacent OTUs. Each OTU 812 operates with a plurality ofrotating members and, in some aspects, lifting mechanisms thatalternatively lift the rotating members. The rotating members maycomprise sequential pairs of rollers and wheels, sequential pairs ofrollers and belts, omnidirectional wheels (commonly known asomni-wheels, Mecanum® wheels, or Rotacasters®), and the like. In someembodiments, not only are the OTUs individually controllable, butsubsets of rotating members and, in some embodiments, liftingmechanisms, may be individually controllable. For example, an OTU 812may include a first subset of rollers and wheels (e.g., 910) rotating inone direction and/or orientation while another subset of rollers andwheels (e.g., 912) are rotating in another direction and/or orientationor are stationary.

Each omnidirectional transfer unit (OTU) 812 may be vertically alignedwith an accumulation container 832. In this way, a parcel may be movedalong the grid from a source location to a release OTU 812, which is theOTU 812 that is positioned directly over the accumulation container 832corresponding to the shipping destination of the parcel. A parcel may beinitially placed onto the grid of OTUs 812 through a singulationmechanism. For example, parcels may be spaced apart along a conveyorthat dumps a single parcel onto an OTU 812 immediately adjacent theconveyor. In another instance, the parcels may be bundled in a pile, andsmall robotic arm may pick up a parcel from the pile and place it ontoan adjacent OTU 812 on the grid.

The parcel is moved across the grid by automatically adjusting differentsets of rotating members across different OTUs 812. These adjustmentsare based on the route that the parcel needs to take to traverse thegrid to reach the release OTU 312. As such, similar to using AGVs as theautomated sorter in system 100, a route of the parcel may be determined.The route may be determined in a similar manner as described previously,such as by applying an algorithm or one or more machine learning modelsto automatically determine a route with the shortest distance betweenthe source location and release OTU 812 while avoiding any blockages,such as other parcels traversing the grid or broken or non-operationalOTUs 812. As such, the route may be based on the position of the releaseOTU 812 and the position of OTUs that another parcel may be currently onor will be on in the future, which may be based on the current or futureroutes of other parcels. This route may be determined using thealgorithm or machine learning model by a remote computer system thatsends an indication to any participating OTUs (i.e., any OTUs along thedetermined route) to adjust the rotating members in a manner to achievethe route.

Once the parcel is positioned on a release OTU 812 that is directlyabove the assigned accumulation container 832, the OTU 812 is adjustedto temporarily create an opening within the grid so that the parcel maydrop down into the accumulation container 832. FIG. 10 depicts a sideview of a parcel 809 that has reached the release OTU 812 positioneddirectly over the assigned accumulation container 832. At least asegment of the OTU 812 will break away or be removed to allow the parcelto drop down into the accumulation container 832. The OTU 812 mayachieve this action through any of the door-opening or tray-openingmechanisms previously discussed with respect to the bottom door ofaccumulation container 132 of system 100 and the tray of AGV 714 ofsystem 700. For instance, in one embodiment, each OTU 812 itself mayfunction as a set of bomb-bay style doors. As such, each OTU 812 maycomprise a first half forming a first door (e.g., door 814) and a secondhalf forming a second door (e.g., door 816), wherein each door issecured to the rest of the grid along one side while being unattached tothe grid along the three other sides. Each door may be configured topivot outward to create the opening within the grid. Only part of eachOTU 812 may serve as one or more doors such that each OTU 812 has astatic or non-moving portion. In some aspects, each OTU 812 has only onedoor that is coupled, via a hinge, to a non-moving portion of OTU 812 ora stationary part of rest of the grid.

The second tier 830 and the third tier 850 of system 800 may be similarto the second tier 130 and the third tier 150 of system 100. Forinstance, FIG. 8 illustrates an AGV 854 (also referred to as a transportAGV 854) with a transport container 852 in the third tier 850. Inanother embodiment, the third tier 850 may include one or more conveyorbelts, similar to conveyors shown in FIG. 6 . As such, details discussedwith respect to the second tiers and the third tiers of system 100 and700 may equally apply to system 800. Additionally, details discussedwith respect to the first tier 110 that are not specific to theCartesian robot sorter or details discussed with respect to the firsttier 710 that are not specific to AGVs may equally apply to the firsttier 810 of system 800.

One advantage of using a grid of OTUs as the automated parcel sorter forfirst tier 810 is that each unit or cell of the grid can be potentiallyin a useful state at all times—either moving a parcel, dumping a parcelinto an accumulation container, or ready for a parcel to be conveyed toit. Additionally, in some embodiments, the OTUs may be designed so thata parcel can start to be conveyed onto the OTU before the last parcel isfully released into an accumulation container, enabling parcels to beconveyed and released in an almost continuous manner. In other words,the number of cells in the grid that are doing useful work is maximized,and the capacity of the automated sorter (first tier 810) is greatlyincreased over that of a single-endpoint system. Additionally, work andtime is not wasted returning a transporting unit, such as an AGV organtry head, to a source location. Using OTUs also increases the numberof routes any parcel may take to reach a destination, such as the sourcelocation or the release destination, such that there may be moreopportunities to reduce interference from blockages.

FIG. 11 depicts a block diagram of example operating environment 1100for parcel sortation using a multi-tiered automated parcel sortationsystem. Illustrated in the example operating environment 1100 is amulti-tiered automated parcel sortation system 1102. Example embodimentsof multi-tiered automated parcel sortation system 1102 comprises athree-tiered structural sortation system having an automated sorter, aplurality of accumulation containers, and a transport mechanism toremove accumulation of parcels out of the sortation area to furtherprocessing. Embodiments of multi-tiered automated parcel sortationsystem 1102 include example multi-tiered automated parcel sortationsystems 100, 700, and 800 in FIGS. 1-6, 7, and 8 , respectively.

Operating environment 1100 further includes a sortation manager 1110that performs various functions for carrying out parcel sortation viaautomated parcel sortation system 1110. Embodiments of sortation manager1110 include container assigning component 1112, routing component 1114,and accumulation emptying component 1116. Container assigning component1112 is configured to assign a particular parcel to an accumulationcontainer within the automated parcel sortation system 1102. Assigningthe parcel to an accumulation container may include determining ashipping or mailing destination of the parcel (which may be based ondata obtained during a scan of the parcel) and identifying anaccumulation container that is associated with that shipping or mailingdestination. Associations between containers and destinations or groupsof destinations may be stored and retrieved from storage, such as datastore 1108. Additionally, in some embodiments, the destinationinformation for a given parcel is received from storage, such as datastore 1108.

Routing component 1114 of sortation manager 1110 is configured todetermine one or more routes for an automated sorter within theautomated parcel sortation system 1102. One route determined may be arelease route. A release route is the route the automated sorter orparcel makes across the first tier of the automated parcel sortationsystem 1102 from a source location (where a parcel is received into thefirst tier) or a release destination (where a parcel is released into anaccumulation container in the second tier). In exemplary embodiments,the release route is determined by applying an algorithm or one or moremachine learning models to automatically determine a route with theshortest distance between the current or source location and the releasedestination. In some embodiments, the release route further considersany blockages, such as other gantry heads, AGVs, or parcels on OTUs.Another type of blockage considered in determining the route may includeany mechanically broken or otherwise inoperable areas, such as trackareas or OTUs.

In some embodiments, such as embodiments in which the automated sortercomprises a Cartesian robot or an AGV, the routing component isconfigured also to determine a return route. A release route is a routean automated sorter makes to return from a release destination afterreleasing a parcel to a source destination. The return route may be theshortest distance from the current location (i.e., the last releasedestination) to the source location while avoiding any blockages. Insome embodiments, determining the return route includes determining aposition along the perimeter of the first tier that is the shortestdistance from the current position of the sorter and determining theroute from the identified position on the perimeter to a sourcelocation. By utilizing the perimeter on the return track, sorters may beless likely to block other sorters and may be able to increase speed. Insome embodiments, there are multiple source locations, and determiningthe return route may include determining the nearest source location,which may be the same or different from the last source location.Similar to the release route, the return route may be planned to avoidany blockages, due to other sorters or parcels or inoperable areas.

Accumulation emptying component 1116 is configured to cause the releaseof accumulated parcels within an accumulation container once theaccumulation container has sufficient fill. In some embodiments,accumulation emptying component 1116 determines when an accumulationcontainer is ready to be emptied using a fill or accumulationmeasurement. Accumulation emptying component 1116 may receive datarelating to a current fill or accumulation in an accumulation containerand determine whether the current measurement(s) satisfies anaccumulation threshold. In some embodiments, the accumulation thresholdis a threshold weight, a threshold volume, and/or a threshold distance(e.g., the total height of an accumulation of parcels within theaccumulation container or distance from the top of an accumulation ofparcels to the top of the accumulation container). The current fill oraccumulation data for accumulation containers may be received by one ormore sensors, such as weight and/or camera sensors, within the automatedparcel sortation system 1102 as discussed with respect to system 100. Insome embodiments, the known volume and/or weight of the parcels (whichmay be determined prior to sortation) may be input into one or moremodels to determine when the accumulation container likely satisfies theaccumulation threshold.

In some embodiments, once it is determined that the accumulationcontainer is ready or nearly ready to be emptied, accumulation emptyingcomponent 1116 may signal to a parcel transporter, such as an AGV orAMR, to travel through the third tier of the automated parcel sortationsystem 1102 to be positioned underneath the filled accumulationcontainer. Accumulation emptying component 1116 may also signal to theaccumulation container to open a bottom door to release the accumulatedparcels into the third tier area. The parcel transporter may include atransport container, such as a mesh bag, or a platform for receivingparcels and transporting the parcels out of the third tier area. In someembodiments, the parcel transporter is a conveyor belt, as depicted inFIG. 7 . Accumulation emptying component 1116 may signal placement ofand/or movement of a transport container on the conveyor to a positionunderneath the accumulation container. Alternatively, the parcels may beemptied from the accumulation container directly onto the conveyorpositioned beneath the accumulation container.

In some embodiments, the accumulation emptying component 1116 signals toa parcel transporter upon satisfaction of a first accumulation thresholdand then signals for release of parcels from the accumulation containerupon satisfaction of a second accumulation threshold that is greaterthan the first accumulation threshold. In this way, accumulationemptying component 1116 can initiate movement of a parcel transportertowards the accumulation container while the accumulation container isstill being filled such that, as soon as the accumulation container issufficiently filled, the parcels can be released into a parceltransporter that is already positioned under the container.

Sortation manager 1110 represents one or more computing devices thatoperate to perform the functions described herein. Though represented asa single component, sortation manager 1110 can be distributed in nature.That is, one or more functions may be performed by a single component orby a plurality of distributed components. The single component ordistributed components may be integrated into physical structures withinthe automated parcel sortation system 1102, such as an AGV oraccumulation container. Additionally or alternatively, one or more ofthese functions may carried out by one or more remote computing devices,such as remote processor 1104, via network 1106. Network 1106encompasses any form of wired or wireless communication. Wirelesscommunication examples include one or more networks, such as a publicnetwork or virtual private network “VPN.” Network 1106 may include oneor more local area networks (LANs), wide area networks (WANs), or anyother communication network or method. In addition to Wi-Fi, otherwireless examples include Bluetooth and infrared communication methods.

Whether integrated directly into automated parcel sortation system 1102or in remote devices, sortation manager 1110 generally includes at leastone processor that executes instructions stored on computer memory. Anexample of a system performing one or more components of sortationmanager 1110 includes computing device 1300 of FIG. 13 .

It should be understood that operating environment 1100 shown in FIG. 11is an example of one suitable operating environment, and that otherarrangements, including more or less components, are also suitable.Other arrangements and elements (e.g., machines, interfaces, functions,orders, and groupings of functions, etc.) can be used in addition to orinstead of those shown, and some elements may have been omitted in FIG.11 altogether for the sake of clarity. Further, many of the elementsdescribed herein are functional entities that may be implemented asdiscrete or distributed components or in conjunction with othercomponents, and in any suitable combination and location. Variousfunctions described herein as being performed by one or more entitiesmay be carried out by hardware, firmware, or software. For instance,some functions may be carried out by a processor executing instructionsstored in memory as further described with reference to FIG. 13 .

FIG. 12 depicts a flow diagram illustrating an example method 1200 ofsorting parcels in accordance with one or more embodiments of thisdisclosure. Method 1200 may be performed, for example, by one or morecomponents of automated parcel sortation system 1102 of FIG. 11 and/orany of the other automated parcel sortation systems disclosed herein.Further, one or more steps of method 1200 may be performed or initiatedby sortation manager 1110 in FIG. 11 . In this way, method 1200 mayinclude steps that correspond to (e.g., are initiated by) differentfunctions performed by the same or different hardware components on onecomputing device, which may be a user device or a remote server.Additionally or alternatively, some or all of these steps in thesemethods may be performed on hardware components of different computingdevices such that these methods may be performed in a distributedfashion.

At block 1202, a parcel is transported along a horizontal plane within afirst tier such that the parcel is positioned above an accumulationcontainer associated with the parcel's shipping destination. Block 1202may be performed by an automated sorter at a first tier within asortation system. In some embodiments, block 1202 is performed by agantry head moving within a gantry, such as gantry heads 116A-B andgantry 111 in FIG. 1 . In other embodiments, block 1202 may be performedby an autonomous guided vehicle, such as AGV 714 in FIG. 7 . Forinstance, the first tier may include a plurality of tracks forming agrid with openings between the tracks, and an AGV carrying a parcel maytraverse the tracks until it reaches an opening within the tracks abovethe accumulation container assigned to the shipping destination of theparcel. Alternatively, block 1202 may be performed by one or moreomnidirectional transfer units (OTUs), such as OTUs 812 in FIG. 8 . EachOTU may include sets of wheels and/or sets of rollers as well as liftsto transport parcels from one OTU to an adjacent OTU until the parcel ison an OTU that is positioned above the accumulation container assignedto the shipping destination of the parcel.

Block 1202 may include transporting a parcel along a route from a sourcelocation to a release destination positioned above the accumulationcontainer corresponding to the parcel's shipping destination. As such,block 1202 may include determining the release destination of the parceland determining the route a parcel will take across the horizontal planeof the first tier. These aspects of block 1202 may be performed bycontainer assigning component 1112 and routing component 1114,respectively, of FIG. 11 . In example embodiments, the route (which maybe referred to herein as a release route) is determined by applying analgorithm or one or more machine learning models to automaticallydetermine a route with the shortest distance between the current orsource location and the release destination. In this way, block 1202 maybe performed automatically by an automated sorter device without userinteraction. In some embodiments, the release route further considersany blockages, such as other gantry heads, AGVs, or parcels on OTUs.Another type of blockage considered in determining the route may includeany mechanically broken or otherwise inoperable areas, such as trackareas or OTUs.

At block 1204, the parcel may be released from the automated sorter inthe first tier to an accumulation container in the second tier. Theaccumulation tier may have a top opening through which the parcel entersand a bottom door. Block 1204 may be performed as described with respectto FIGS. 1-8 and 10 . Block 1204 may be performed by the automatedsorter, such as a gantry head, AGV, or OTU, carrying the parcel and maybe done automatically and without user interaction once the parcelreaches the release destination within the first tier.

At block 1206, an accumulation of parcels are received and stored in theaccumulation container in the second tier. The parcels released in block1204 is stored within the accumulation container as additional parcelsare transported around the first tier and received into the accumulationcontainer. At block 1208, the bottom door of the accumulation containeris opened to release the accumulation of parcels within the container into the third tier. Block 1208 may be performed as described with respectto FIGS. 1-8 and 10 . Some aspects of block 1208 may be performed by orinitiated by accumulation emptying component 1116 of FIG. 11 . Further,embodiments of block 1208 may include determining that the accumulationwithin the accumulation container satisfies an accumulation threshold.In some embodiments, the accumulation threshold is a threshold weight, athreshold volume, and/or a threshold distance (e.g., the total height ofan accumulation of parcels within the accumulation container or distancefrom the top of an accumulation of parcels to the top of theaccumulation container). Accumulation data for the accumulationcontainer may be received by one or more sensors, such as weight and/orcamera sensors. Alternatively, the known volume and/or weight of theparcels (which may be determined prior to sortation) may be input intoone or more models to determine when the accumulation container likelysatisfies the accumulation threshold.

After the bottom door of the accumulation container opens, theaccumulation of parcels within the container may be released into at thethird tier. At block 1210, the accumulation of parcels is transportedwithin the third tier away from the accumulation container. The parcelsmay be transported via a transport container as described with respectto FIGS. 5A-B and 6. The transport container may be positionedunderneath the accumulation container releasing the parcels by anautonomous guided vehicle (AGV), and the AGV may also transport thereceived accumulation of parcels to an area on the perimeter of oroutside of the sortation system so that the accumulation of parcels maybe further processed and/or sorted and transported to the correctdestination. Alternatively, a transport container may be placed on aconveyor positioned underneath the accumulation container. Once theparcels are released from the accumulation container and received in thetransport container, the conveyor may move the parcels within thetransport container to an area on the perimeter of or outside of thesortation system. In another embodiment, the conveyor placed under theaccumulation container does not include a transport container such thatthe accumulation of parcels are received and moved as a pile of parcels.

With reference to FIG. 13 , an example computing device 1300 isprovided. Computing device 1300 includes bus 1310 that directly orindirectly couples the following devices: memory 1312, one or moreprocessors 1314, one or more presentation components 1316, input/outputports 1318, input/output components 1320, and illustrative power supply1222. Bus 1310 represents what may be one or more busses (such as anaddress bus, data bus, or combination thereof). Although the variousblocks of FIG. 13 are shown with lines for the sake of clarity, inreality, delineating various components is not so clear, andmetaphorically, the lines would more accurately be grey and fuzzy. Forexample, one may consider a presentation component such as a displaydevice to be an I/O component. Also, processors have memory. The diagramof FIG. 13 merely illustrates an example computing device that can beused in connection with one or more embodiments of the presenttechnology. Distinction is not made between such categories as“workstation,” “server,” “laptop,” “hand-held device,” etc., as all arecontemplated within the scope of FIG. 13 and reference to “computingdevice.”

Computing device 1300 typically includes a variety of computer-readablemedia. Computer-readable media can be any available media that can beaccessed by computing device 1300 and includes both volatile andnonvolatile media, removable and non-removable media. By way of example,and not limitation, computer-readable media may comprise computerstorage media and communication media.

Computer storage media include volatile and nonvolatile, removable andnon-removable media implemented in any method or technology for storageof information such as computer-readable instructions, data structures,program modules, or other data. Computer storage media includes, but isnot limited to, RAM, ROM, EEPROM, flash memory or other memorytechnology, CD-ROM, digital versatile disks (DVD) or other optical diskstorage, magnetic cassettes, magnetic tape, magnetic disk storage orother magnetic storage devices, or any other medium which can be used tostore the desired information and which can be accessed by computingdevice 1300. Computer storage media excludes signals per se.

Communication media typically embodies computer-readable instructions,data structures, program modules or other data in a modulated datasignal such as a carrier wave or other transport mechanism and includesany information delivery media. The term “modulated data signal” means asignal that has one or more of its characteristics set or changed insuch a manner as to encode information in the signal. By way of example,and not limitation, communication media includes wired media such as awired network or direct-wired connection, and wireless media such asacoustic, RF, infrared and other wireless media. Combinations of any ofthe above should also be included within the scope of computer-readablemedia.

Memory 1312 includes computer storage media in the form of volatile ornonvolatile memory. The memory may be removable, non-removable, or acombination thereof. Example hardware devices include solid-statememory, hard drives, optical-disc drives, etc. Computing device 1300includes one or more processors that read data from various entitiessuch as memory 1312 or I/O components 1320. Presentation component(s)1316 present data indications to a user or other device such as, forexample, through a graphic user interface. Examples of presentationcomponents include a display device, speaker, printing component,vibrating component, etc.

I/O ports 1318 allow computing device 1300 to be logically coupled toother devices including I/O components 1320, some of which may be builtin. Illustrative components include a microphone, joystick, game pad,satellite dish, scanner, printer, wireless device, etc.

Example embodiments described and derived from the description above mayinclude one or more of the following:

Embodiment 1: An automated parcel sortation system comprising: a firsttier comprising an automated parcel sorter configured to transport aplurality of parcels, each parcel having an assigned shippingdestination; a second tier positioned directly beneath the first tierand comprising a plurality of accumulation containers, each accumulationcontainer being associated with a shipping destination; and a third tiercomprising a parcel accumulation transporter positioned directly beneaththe second tier and configured to transport an accumulation of parcelsreceived from an accumulation container towards a perimeter of theautomated parcel sortation system; wherein the automated parcel sorteris configured to transport a parcel to a position directly above theaccumulation container that corresponds to the shipping destinationassigned to the parcel, the automated parcel sorter further configuredto release the parcel into the accumulation container; wherein eachaccumulation container is configured to hold the accumulation of parcelsand release the accumulation of parcels to the parcel accumulationtransporter when an accumulation threshold within the accumulationcontainer is satisfied.

Embodiment 2: Embodiment 1, wherein the automated parcel sortercomprises a plurality of omnidirectional transfer units arrangedadjacent one another to form a grid that is horizontally oriented, eachomnidirectional transfer unit being configured to move a parcel in eachdirection along at least two axes. In accordance with Embodiment 2, eachomnidirectional transfer unit may be positioned directly above anaccumulation container within the plurality of accumulation containers.Embodiment 3: Embodiment 2, wherein the automated sorter furthercomprises a computerized sortation manager communicatively coupled tothe plurality of omnidirectional transfer units, wherein thecomputerized sortation manager is configured to determine a route from asource location at which the parcel is received on the grid to theposition above the accumulation container corresponding to the shippingdestination assigned to the parcel. Embodiment 4: Any of embodiments2-3, wherein each omnidirectional transfer unit is at least partiallydetachable from the grid. Embodiment 5: Embodiment 4, wherein eachomnidirectional transfer unit comprises a first portion forming a firstdoor and a second portion forming a second door, wherein each of thefirst door and the second door are configured to at least partially opena create a temporary opening within the grid, wherein the parcelpositioned on the omnidirectional transfer unit is released into thesecond tier when the temporary opening is created. Embodiment 6: Any ofEmbodiments 2-5, wherein each OTU comprises a plurality of rollers andwheels partially exposed along a top surface of the OTU and one or moremechanisms to lift at least a subset of the rollers and wheels.Embodiment 7: Any of Embodiments 2-5, wherein each OTU comprises aplurality of multi-directional wheels configured to roll in eachdirection along the at least two axes. Embodiment 8: Any of Embodiments2-7, wherein each omnidirectional transfer unit is configured to lowerdownward from the horizontal plane of the grid to release a parcel intothe accumulation container.

Embodiment 9: Embodiment 1, wherein the automated parcel sortercomprises: a plurality of tracks that intersect to form a grid that ishorizontally oriented, the grid comprising openings between the tracksthat are each positioned above an accumulation container within theplurality of accumulation containers; and one or more autonomous guidedvehicles configured to traverse the grid along the plurality of tracks.Embodiment 10: Embodiment 9, wherein the one or more autonomous guidedvehicles are each configured to determine a route from a source locationat which the autonomous guided vehicle receives the parcel to theposition above the accumulation container corresponding to the shippingdestination assigned to the parcel. Embodiment 11: Embodiment 10,wherein each autonomous guided vehicle determines the route by receivingthe route from a remote computer system. Embodiment 12: Any ofEmbodiments 9-11, wherein the one or more autonomous guided vehiclescomprises a plurality of autonomous guided vehicles thatcontemporaneously traverse the grid along different routes, wherein theplurality of parcels are transported in parallel or serially by theplurality of autonomous guided vehicles.

Embodiment 13: Any of embodiments 9-12, wherein each autonomous guidedvehicle determines a route by automatically applying an algorithm usingthe shipping destination to determine a route with the shortest distancebetween the source location and the position above the accumulationcontainer while avoiding any blockages from one or more additionalautonomous guided vehicles. Embodiment of 14: Any of embodiments 9-13,wherein each autonomous guided vehicle is configured to determine areturn route from the position above the accumulation container to areturn source location, the return source location being either the samesource location from where the autonomous guided vehicle received theparcel or a different source location. Embodiment 15: Any of embodiments9-14, wherein each autonomous guided vehicle comprises a body, a trayforming a lower portion of the body and configured to hold a parcel, anda tray opening mechanism configured to move the tray when the tray ispositioned over the accumulation container corresponding to the shippingdestination assigned to the parcel held within the tray. Embodiment 16:Embodiment 15, wherein the tray comprises one or more hinged doors andwherein the tray opening mechanism causes the hinged doors to rotateopen to release the parcel positioned on the one or more hinged doors.Embodiment 17: Embodiment 16, wherein the one or more hinged doorscomprise two hinged doors that are coupled to opposite sides of the bodyof the autonomous guided vehicle such that when the hinged doors rotate,the two hinged doors rotate away from one another. Embodiment 18:Embodiment 15, wherein the tray comprises a flexible door formed fromplurality of ridged members, the flexible door being configured to rollaround itself towards a side of the body of the autonomous guidedvehicle to release the parcel. Embodiment 19: Embodiment 15, whereintray comprises a first plate and a second plate that each have anaperture, the first plate and the second plate being parallel to eachother and arranged so that the apertures of each plate align with oneanother, the two parallel plates being connected along the perimeter bya flexible material, wherein the tray opening mechanism rotates at leastthe first parallel plate relative to the second parallel plate to openand close the tray; wherein when open, a tunnel is formed between theapertures of the first and second plates; and wherein the flexiblematerial is positioned between the apertures of the first and secondplates when the first parallel plate is rotated closed. Embodiment 20:Embodiment 15, wherein the tray comprise two panels positioned adjacenteach other, wherein the tray opening mechanism comprises a pair ofpneumatic cylinders that each rotate along one axis to push an adjoiningpanel out sideways along a horizontal plane. Embodiment 21: Embodiment20, wherein the pair of pneumatic cylinders each further rotate along asecond axis to push the adjoining panel downwards.

Embodiment 22: Any of the Embodiments 1-22, wherein the parcelaccumulation transporter of the third tier comprises a conveyor.Embodiment 23: Any of the Embodiments 1-22, wherein the parcelaccumulation transporter of the third tier comprises an autonomousguided vehicle that includes a transport container, wherein theautonomous guided vehicle is configured to position the transportcontainer directly beneath the accumulation container and configured totransport the accumulation of parcels that are released into thetransport container.

Embodiment 24: An automated parcel sortation system comprising: a firsttier comprising a plurality of omnidirectional transfer units (OTUs)arranged to form a grid that is horizontally oriented, each OTUcomprising one or more of wheels and rollers to transport a parcel onthe grid, the parcel being assigned a shipping destination; a secondtier positioned directly beneath the first tier and comprising aplurality of accumulation containers, each accumulation container beingassociated with a shipping destination, wherein the parcel istransported across the grid to a release OTU that is positioned directlyabove a first accumulation container associated with the shippingdestination assigned to the parcel; and a third tier comprising a parcelaccumulation transporter positioned directly beneath the second tier andconfigured to transport an accumulation of parcels received from thefirst accumulation container towards a perimeter of the automated parcelsortation system; wherein a partially removable portion of the releaseOTU is configured to move to create a temporary opening within the grid,wherein the parcel is released from the first tier into the second tiervia the temporary opening.

Embodiment 25: Embodiment 24, wherein the parcel accumulationtransporter comprises a conveyor. Embodiment 26: Embodiment 24, whereinthe parcel accumulation transporter comprises an autonomous guidedvehicle. Embodiment 27: Any of embodiments 24-26, wherein the firstaccumulation container is configured to hold the accumulation of parcelsand configured to release the accumulation of parcels to the parcelaccumulation transporter when an accumulation threshold is satisfied,the accumulation threshold being one or more of an accumulation volumethreshold, an accumulation weight threshold, and an accumulation heightthreshold. Embodiment 28: Any of Embodiments 24-27, wherein thepartially removable portion of the release OTU comprises one or moredoors each rotatably coupled the release OTU and configured to open tocreate the temporary opening within the grid.

Embodiment 29: A method for sorting parcels, the method comprising: at afirst tier and by an automated sorter device without user interaction,transporting a parcel along a horizontal plane to position the parcelabove an accumulation container associated with a shipping destinationof the parcel, the accumulation container being positioned within asecond tier and having a top opening and a bottom door; at the firsttier and by the automated sorter device without user interaction,releasing the parcel from the first tier into the top opening of theaccumulation container; at the accumulation container in the secondtier, receiving and storing an accumulation of parcels comprising theparcel and additional parcels; at the second tier, automatically andwithout user interaction, opening the bottom door of the accumulationcontainer to release the accumulation of parcels to a third tier; and atthe third tier, transporting the accumulation of parcels away from theaccumulation container.

Embodiment 30: Embodiment 29, wherein the bottom door of theaccumulation container is opened upon determining that the accumulationof parcels within the accumulation container satisfies an accumulationthreshold. Embodiment 31: Any of Embodiments 29-30, wherein theautomated sorter device comprises an autonomous guided vehicle thatmoves along a plurality of tracks to transport the parcel across thefirst tier, the autonomous guided vehicle transporting the parcelaccording to a route determined for the parcel based at least in part onthe shipping destination of the parcel. Embodiment 32: Any ofEmbodiments 29-30, wherein the automated sorter device comprises aplurality of omnidirectional transfer units (OTUs) each comprising oneor more of wheels and rollers to transport the parcel to an adjacentOTU.

Embodiment 33: An automated sorter for sorting parcels, the automatedsorter comprising: a body comprising: a tray oriented horizontally andforming a lower portion of the body, the tray being configured to hold aparcel, and a tray opening mechanism configured to move the tray whenthe automated sorter is positioned at a predetermined releasedestination, wherein when the tray is moved, a parcel positioned on thetray is released downwards away from the body of the automated sorter.The automated sorter of embodiment 33 further comprising: a plurality ofwheels secured to the body; a route component configured to determine aroute of the automated sorter to the predetermined destination; and anautomated steering component configured to steer the body of theautomated sorter according to the route.

Embodiment 34: Embodiment 33, wherein the predetermined releasedestination is determined based on a shipping destination associatedwith the parcel positioned on the tray. Embodiment 35: Any ofEmbodiments 33-34, wherein the route component comprises one or morecomputer readable media and one or more processors, wherein computerreadable media comprises instructions that, when executed by the one ormore processors, perform a method for automatically determining theroute to the predetermined release destination. Embodiment 36: Any ofEmbodiments 33-35, wherein the route component comprises a sensorconfigured to receive the route determined at a remote computer.

Embodiment 37: An automated sorter for sorting parcels, the automatedsorter comprising: a plurality of omnidirectional transfer unitsarranged adjacent one another to form a grid that is horizontallyoriented, each omnidirectional transfer unit having a top surface with aplurality of rotating members that move relative to one or morestationary portions of the top surface, wherein the plurality ofrotating members are configured to rotate in each direction along atleast two axes, wherein each omnidirectional transfer unit is configuredto move away from the grid to temporarily create an opening within thegrid.

Embodiment 38: Embodiment 37, wherein the plurality of rotationalmembers comprises pairs of rollers and wheels, and wherein eachomnidirectional transfer unit comprises one or more mechanisms to liftat least a subset of the pairs of rollers and wheels. Embodiment 39:Embodiment 37, wherein the plurality of rotational members comprisespairs of rollers and belts, and wherein each omnidirectional transferunit comprises one or more mechanisms to lift at least a subset of thepairs of rollers and belts. Embodiment 40: Embodiment 37: wherein theplurality of rotational members comprises a plurality ofmulti-directional wheels configured to roll in each direction along theat least two axes. Embodiment 41: Any of Embodiments 37-40, wherein eachomnidirectional transfer unit comprises a first half forming a firstdoor and a second half forming a second door, wherein each door issecured to the grid along a first side and is unattached to the gridalong three other sides, wherein each door is configured to pivot alongthe first side to create the opening within the grid. Embodiment 42: Anyof Embodiments 37-40, wherein each omnidirectional transfer unitcomprises a first half forming a first door and a second half forming asecond door, wherein each door is configured to lower below thehorizontal plane of the grid and slide outward to create the openingwithin the grid. Embodiment 43: Any of Embodiments 37-42, whereinsubsets of rotational members within the plurality of rotational membersare independently rotatable, and wherein each omnidirectional transferunit comprises a receiver configured to receive a signal indicating adirection in which each subset of rotational members are to rotate.

Embodiments described above may be combined with one or more of thespecifically described alternatives. In particular, an embodiment thatis claimed may contain a reference, in the alternative, to more than oneother embodiment. The embodiment that is claimed may specify a furtherlimitation of the subject matter claimed.

The subject matter of the present technology is described withspecificity herein to meet statutory requirements. However, thedescription itself is not intended to limit the scope of thisdisclosure. Rather, the inventors have contemplated that the claimed ordisclosed subject matter might also be embodied in other ways, toinclude different steps or combinations of steps similar to the onesdescribed in this document, in conjunction with other present or futuretechnologies. Moreover, although the terms “step” or “block” might beused herein to connote different elements of methods employed, the termsshould not be interpreted as implying any particular order among orbetween various steps herein disclosed unless and except when the orderof individual steps is explicitly stated.

As used in this disclosure, the word “delivery” is intended to mean both“to drop off” and “to pickup,” unless one of the options isimpracticable. For example, a “delivery vehicle” is a vehicle capable ofpicking up a parcel and dropping off a parcel at a location. Words suchas “a” and “an,” unless otherwise indicated to the contrary, include theplural as well as the singular. Thus, for example, the constraint of “afeature” is satisfied where one or more features are present. Also, theterm “or” includes the conjunctive, the disjunctive, and both (a or bthus includes either a or b, as well as a and b).

It will be understood that certain features and subcombinations are ofutility and may be employed without reference to other features andsubcombinations. This is contemplated by and is within the scope of theclaims. Because many possible embodiments of the described technologymay be made without departing from the scope, it is to be understoodthat all matter described herein or illustrated the accompanyingdrawings is to be interpreted as illustrative and not in a limitingsense.

What is claimed is:
 1. An automated parcel sortation system comprising:a first tier comprising an automated parcel sorter configured totransport a plurality of parcels, each parcel having an assignedshipping destination; a second tier positioned directly beneath thefirst tier and comprising a plurality of accumulation containers, eachaccumulation container being associated with a shipping destination; anda third tier comprising a parcel accumulation transporter positioneddirectly beneath the second tier and configured to transport anaccumulation of parcels received from an accumulation container towardsa perimeter of the automated parcel sortation system, wherein the secondtier is suspended above the third tier; wherein the automated parcelsorter is configured to transport a parcel to a position directly abovethe accumulation container that corresponds to the shipping destinationassigned to the parcel, the automated parcel sorter further configuredto release the parcel into the accumulation container; and wherein eachaccumulation container is configured to hold the accumulation of parcelsand release the accumulation of parcels to the parcel accumulationtransporter when an accumulation threshold within the accumulationcontainer is satisfied.
 2. The automated parcel sortation system ofclaim 1, wherein the automated parcel sorter comprises a plurality ofomnidirectional transfer units arranged adjacent one another to form agrid that is horizontally oriented, each omnidirectional transfer unitbeing configured to move a parcel in each direction along at least twoaxes.
 3. The automated parcel sortation system of claim 2, wherein theautomated sorter further comprises a computerized sortation managercommunicatively coupled to the plurality of omnidirectional transferunits, wherein the computerized sortation manager is configured todetermine a route from a source location at which the parcel is receivedon the grid to the position above the accumulation containercorresponding to the shipping destination assigned to the parcel.
 4. Theautomated parcel sortation system of claim 2, wherein eachomnidirectional transfer unit is at least partially detachable from thegrid.
 5. The automated parcel sortation system of claim 4, wherein eachomnidirectional transfer unit comprises a first portion forming a firstdoor and a second portion forming a second door, wherein each of thefirst door and the second door are configured to at least partially opena create a temporary opening within the grid, wherein the parcelpositioned on the omnidirectional transfer unit is released into thesecond tier when the temporary opening is created.
 6. The automatedparcel sortation system of claim 1, wherein the automated parcel sortercomprises: a plurality of tracks that intersect to form a grid that ishorizontally oriented, the grid comprising openings between the tracksthat are each positioned above an accumulation container within theplurality of accumulation containers; and one or more autonomous guidedvehicles configured to traverse the grid along the plurality of tracks.7. The automated parcel sortation system of claim 6, wherein the one ormore autonomous guided vehicles are each configured to determine a routefrom a source location at which the autonomous guided vehicle receivesthe parcel to the position above the accumulation containercorresponding to the shipping destination assigned to the parcel.
 8. Theautomated parcel sortation system of claim 7, wherein each autonomousguided vehicle determines the route by receiving the route from a remotecomputer system.
 9. The automated parcel sortation system of claim 6,wherein the one or more autonomous guided vehicles comprises a pluralityof autonomous guided vehicles that contemporaneously traverse the gridalong different routes, wherein the plurality of parcels are transportedin parallel or serially by the plurality of autonomous guided vehicles.10. The automated parcel sortation system of claim 1, wherein the parcelaccumulation transporter of the third tier comprises a conveyor.
 11. Theautomated parcel sortation system of claim 1, wherein the parcelaccumulation transporter of the third tier comprises an autonomousguided vehicle that includes a transport container, wherein theautonomous guided vehicle is configured to position the transportcontainer directly beneath the accumulation container and configured totransport the accumulation of parcels that are released into thetransport container.
 12. An automated parcel sortation systemcomprising: a first tier comprising a plurality of omnidirectionaltransfer units (OTUs) arranged to form a grid that is horizontallyoriented, each OTU comprising one or more of wheels and rollers totransport a parcel on the grid, the parcel being assigned a shippingdestination; a second tier positioned directly beneath the first tierand comprising a plurality of accumulation containers, each accumulationcontainer being associated with a shipping destination, wherein theparcel is transported across the grid to a release OTU that ispositioned directly above a first accumulation container associated withthe shipping destination assigned to the parcel; and a third tiercomprising a parcel accumulation transporter positioned directly beneaththe second tier and configured to transport an accumulation of parcelsreceived from the first accumulation container towards a perimeter ofthe automated parcel sortation system, wherein the second tier issuspended above the third tier; and wherein a partially removableportion of the release OTU is configured to move to create a temporaryopening within the grid, wherein the parcel is released from the firsttier into the second tier via the temporary opening.
 13. The automatedparcel sortation system of claim 12, wherein the parcel accumulationtransporter comprises a conveyor.
 14. The automated parcel sortationsystem of claim 12, wherein the parcel accumulation transportercomprises an autonomous guided vehicle.
 15. The automated parcelsortation system of claim 12, wherein the first accumulation containeris configured to hold the accumulation of parcels and configured torelease the accumulation of parcels to the parcel accumulationtransporter when an accumulation threshold is satisfied, theaccumulation threshold being one or more of an accumulation volumethreshold, an accumulation weight threshold, and an accumulation heightthreshold.
 16. The automated parcel sortation system of claim 12,wherein the partially removable portion of the release OTU comprises oneor more doors each rotatably coupled the release OTU and configured toopen to create the temporary opening within the grid.
 17. A method forsorting parcels, the method comprising: at a first tier and by anautomated sorter device without user interaction, transporting a parcelalong a horizontal plane to position the parcel above an accumulationcontainer associated with a shipping destination of the parcel, theaccumulation container having a top opening and a bottom door, theaccumulation container included within a second tier comprising aplurality of accumulation containers arranged in a grid; at the firsttier and by the automated sorter device without user interaction,releasing the parcel from the first tier into the top opening of theaccumulation container; at the accumulation container in the secondtier, receiving and storing an accumulation of parcels comprising theparcel and additional parcels; at the second tier, automatically andwithout user interaction, opening the bottom door of the accumulationcontainer to release the accumulation of parcels to a third tier; and atthe third tier, transporting the accumulation of parcels away from theaccumulation container.
 18. The method for sorting parcels of claim 17,wherein the bottom door of the accumulation container is opened upondetermining that the accumulation of parcels within the accumulationcontainer satisfies an accumulation threshold.
 19. The method forsorting parcels of claim 17, wherein the automated sorter devicecomprises an autonomous guided vehicle that moves along a plurality oftracks to transport the parcel across the first tier, the autonomousguided vehicle transporting the parcel according to a route determinedfor the parcel based at least in part on the shipping destination of theparcel.
 20. The method for sorting parcels of claim 17, wherein theautomated sorter device comprises a plurality of omnidirectionaltransfer units (OTUs) each comprising one or more of wheels and rollersto transport the parcel to an adjacent OTU.